Skip to content

Commit f4186dd

Browse files
authored
Fix interactive marker in rviz (#10)
* Fix terrain planner interactive marker * Start with interact by default
1 parent dcbc6d2 commit f4186dd

File tree

2 files changed

+15
-13
lines changed

2 files changed

+15
-13
lines changed

mav_planning_rviz/src/goal_marker.cpp

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@
55
using std::placeholders::_1;
66

77
GoalMarker::GoalMarker(rclcpp::Node::SharedPtr node) : node_(node), marker_server_("goal", node) {
8+
set_goal_marker_.header.stamp = node_->now();
89
set_goal_marker_.header.frame_id = "map";
910
set_goal_marker_.name = "set_pose";
1011
set_goal_marker_.scale = 100.0;
@@ -21,6 +22,7 @@ GoalMarker::GoalMarker(rclcpp::Node::SharedPtr node) : node_(node), marker_serve
2122
control.orientation.z = 0;
2223
control.interaction_mode = visualization_msgs::msg::InteractiveMarkerControl::MOVE_PLANE;
2324
control.name = "move plane";
25+
control.always_visible = true;
2426
set_goal_marker_.controls.push_back(control);
2527

2628
marker_server_.insert(set_goal_marker_);

terrain_planner/launch/config.rviz

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ Panels:
88
- /Vehicle1
99
- /Vehicle1/VehiclePoseMarker1/Namespaces1
1010
Splitter Ratio: 0.5
11-
Tree Height: 280
11+
Tree Height: 288
1212
- Class: rviz_common/Selection
1313
Name: Selection
1414
- Class: rviz_common/Tool Properties
@@ -180,7 +180,7 @@ Visualization Manager:
180180
Enabled: true
181181
Name: CandidateGoalMarker
182182
Namespaces:
183-
goal: true
183+
{}
184184
Topic:
185185
Depth: 5
186186
Durability Policy: Volatile
@@ -193,7 +193,7 @@ Visualization Manager:
193193
Enabled: true
194194
Name: CandidateStartMarker
195195
Namespaces:
196-
start: true
196+
{}
197197
Topic:
198198
Depth: 5
199199
Durability Policy: Volatile
@@ -266,7 +266,7 @@ Visualization Manager:
266266
Enabled: true
267267
Name: PathSegmentsMarkerArray
268268
Namespaces:
269-
normals: true
269+
{}
270270
Topic:
271271
Depth: 5
272272
Durability Policy: Volatile
@@ -433,6 +433,8 @@ Visualization Manager:
433433
Frame Rate: 30
434434
Name: root
435435
Tools:
436+
- Class: rviz_default_plugins/Interact
437+
Hide Inactive Objects: true
436438
- Class: rviz_default_plugins/MoveCamera
437439
- Class: rviz_default_plugins/Select
438440
- Class: rviz_default_plugins/FocusCamera
@@ -463,8 +465,6 @@ Visualization Manager:
463465
History Policy: Keep Last
464466
Reliability Policy: Reliable
465467
Value: /clicked_point
466-
- Class: rviz_default_plugins/Interact
467-
Hide Inactive Objects: true
468468
- Class: nav2_rviz_plugins/GoalTool
469469
Transformation:
470470
Current:
@@ -480,18 +480,18 @@ Visualization Manager:
480480
Swap Stereo Eyes: false
481481
Value: false
482482
Focal Point:
483-
X: 808.8604736328125
484-
Y: -174.71060180664062
485-
Z: 1149.7601318359375
483+
X: 394.65667724609375
484+
Y: -18.57610511779785
485+
Z: 1979.8104248046875
486486
Focal Shape Fixed Size: true
487487
Focal Shape Size: 0.05000000074505806
488488
Invert Z Axis: false
489489
Name: Current View
490490
Near Clip Distance: 0.009999999776482582
491-
Pitch: 1.5697963237762451
491+
Pitch: 0.5397968292236328
492492
Target Frame: map
493493
Value: Orbit (rviz_default_plugins)
494-
Yaw: -1.5700000524520874
494+
Yaw: 0.43000179529190063
495495
Saved: ~
496496
Window Geometry:
497497
Displays:
@@ -501,7 +501,7 @@ Window Geometry:
501501
Hide Right Dock: true
502502
PlanningPanel:
503503
collapsed: false
504-
QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002dafc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006400000167000000e300fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001cc000001720000017200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000007a00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000c600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000023d00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d006501000000000000045000000000000000000000027d000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
504+
QMainWindow State: 000000ff00000000fd0000000400000000000002ad000002c6fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000780000015b000000c700fffffffb0000001a0050006c0061006e006e0069006e006700500061006e0065006c01000001d9000001650000014e00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000020c000001b10000000000000000fb0000000c00540065006c0065006f00700000000368000000b20000006e00ffffff000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000064000002da000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000052b00000037fc0100000002fb0000000800540069006d006501000000000000052b0000025300fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000014efc0100000001fb0000000800540069006d0065010000000000000450000000000000000000000278000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
505505
Selection:
506506
collapsed: false
507507
Teleop:
@@ -513,5 +513,5 @@ Window Geometry:
513513
Views:
514514
collapsed: true
515515
Width: 1323
516-
X: 0
516+
X: 70
517517
Y: 38

0 commit comments

Comments
 (0)